CN109652102A - The method of coke oven electric locomotive automatic Pilot location control - Google Patents
The method of coke oven electric locomotive automatic Pilot location control Download PDFInfo
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- CN109652102A CN109652102A CN201910142689.4A CN201910142689A CN109652102A CN 109652102 A CN109652102 A CN 109652102A CN 201910142689 A CN201910142689 A CN 201910142689A CN 109652102 A CN109652102 A CN 109652102A
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- C—CHEMISTRY; METALLURGY
- C10—PETROLEUM, GAS OR COKE INDUSTRIES; TECHNICAL GASES CONTAINING CARBON MONOXIDE; FUELS; LUBRICANTS; PEAT
- C10B—DESTRUCTIVE DISTILLATION OF CARBONACEOUS MATERIALS FOR PRODUCTION OF GAS, COKE, TAR, OR SIMILAR MATERIALS
- C10B45/00—Other details
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- C—CHEMISTRY; METALLURGY
- C10—PETROLEUM, GAS OR COKE INDUSTRIES; TECHNICAL GASES CONTAINING CARBON MONOXIDE; FUELS; LUBRICANTS; PEAT
- C10B—DESTRUCTIVE DISTILLATION OF CARBONACEOUS MATERIALS FOR PRODUCTION OF GAS, COKE, TAR, OR SIMILAR MATERIALS
- C10B41/00—Safety devices, e.g. signalling or controlling devices for use in the discharge of coke
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- Engineering & Computer Science (AREA)
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- Oil, Petroleum & Natural Gas (AREA)
- Organic Chemistry (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a kind of methods of coke oven electric locomotive automatic Pilot location control, are related to coking industry coke oven production Advanced Automotive Automatic Control field.Its implementation is: the second vehicle-mounted PLC controller is obtained after the address decoder on the electric locomotive is transported to destination address that the described first vehicle-mounted PLC controller real-time address and the four vehicles locking system ground main controller are set and is compared by bus communication, obtain distance offsets W, according to apart from rate pattern and control algolithm, calculate the operation feedback speed of the electric locomotive, it exports gear signal and controls traveling frequency converter, driving motor vehicle completes traveling positioning, automatically vehicle is moved, the movement adaptively adjusted.The present invention can solve prior art work, and that there are positioning accuracies is poor, and moving vehicle, time-consuming, and labor intensity is high, and personnel's fatiguability is chain not perfect, the big problem of operation hidden danger.
Description
Technical field
The present invention relates to coking industry coke oven production Advanced Automotive Automatic Control field, especially a kind of electric locomotive is driven automatically
The method for sailing location control.
Background technique
In coking industry, four carts are coke oven main production equipments, belong to rail mechanical equipment, have mechanization, large size
Change feature, but the degree of automation is generally lower.Though the design and use PLC system control of four carts is for many years, and gradually mating four
Vehicle locking system has basic position identification function.But for a long time, four-cart all uses and is positioned manually and controls manually
System operation.And the investment of these change systems is huge, operation and maintenance cost is high.Currently, four carts configuration operation driver number compared with
It is more.In addition, due to personnel's operation is nonstandard, lack of standardization etc., caused by equipment breakdown take place frequently.Wherein, electric locomotive is coke oven
The speed of service is fast in four carts, operating frequency is high, the horizontal low track machine of normalizing operation, and arbitrariness is also big for manual operation, deposits
Coke oven production automation level will be improved such as technological transformation success in certain security risk.
There are a four vehicle locking systems in many coking production enterprises at present, and each coke oven is equipped with four vehicle locking systems and vehicle-mounted
PLC control system.Four vehicle locking systems realize the behaviour of the typing of coke oven production plan, vehicle location identification and coke pushing, coal
Make chain.Vehicle-mounted PLC control system realizes the control of vehicle mechanism.But all the time, vehicle is all by driver according to pushing away
Coke plan carries out manual operation to control respective travelled by vehicle, positioning and movement.Generally existing positioning accuracy is poor, moves vehicle time-consuming
Long, labor intensity is high, and personnel's fatiguability is chain not perfect, operates the problems such as hidden danger is big.
Summary of the invention
The object of the present invention is to provide a kind of methods of coke oven electric locomotive automatic Pilot location control, it can solve existing
That there are positioning accuracies is poor for technical work, and moving vehicle, time-consuming, and labor intensity is high, and personnel's fatiguability is chain not perfect, and operation hidden danger is big
The problem of.
To solve the above-mentioned problems, the technical solution adopted by the present invention is that: the positioning control of this coke oven electric locomotive automatic Pilot
The method of system realizes that the system includes being located at four vehicle locking systems using coke oven electric locomotive automatic Pilot positioning control system
Address decoder, the address decoder reads the electric locomotive for the positioning optical yardstick being located on ground rail in real time
Location data, and this real-time address data is transferred to the first vehicle-mounted PLC controller, the first vehicle-mounted PLC controller will be described
Real-time address data and the destination address of setting are transferred to the second vehicle-mounted PLC controller, and simultaneous transmission is to four vehicle locking systems
Face main controller, the second vehicle-mounted PLC controller control the speed stage of the electric locomotive according to the result that control algolithm obtains,
The speed stage is walked by Frequency Converter Control running motor to destination address；Its implementation is: the second vehicle-mounted PLC
Controller obtains the address decoder on the electric locomotive by bus communication and is transported to the described first vehicle-mounted PLC controller
The destination address of real-time address and four vehicles locking system ground main controller setting and after being compared, obtains distance offsets
W calculates the operation feedback speed of the electric locomotive, output gear signal control is walked according to apart from rate pattern and control algolithm
Row frequency converter, driving motor vehicle complete traveling positioning, move vehicle automatically, the movement adaptively adjusted.
In above-mentioned technical proposal, more specifically scheme may also is that the real-time address are as follows: the address decoder warp
The absolute address of acquisition is parsed after detecting the positioning optical yardstick, the first vehicle-mounted PLC controller is surveyed through serial mode, read
Take the real-time address data of the address decoder.
Further: the destination address includes the plan heat (batch) number of the setting directly obtained from the four vehicles locking system
The burnt tank trolleys of location and two are in the connecing of winding shaft position, four absolute address values of tank sending contraposition dynamic memory, and described four
Absolute address values switch according to sequential control and use during automatic Pilot.
Further, described apart from rate pattern are as follows: long according to the size of distance offsets and actual production scene track
Degree, each gear speed interval range determined.
Further, each gear speed interval range are as follows: 1) when the electric locomotive tank sending after the completion of, to coke oven side into
When row connects the positioning of Jiaozhuo industry, the range deviation-m0< W < m0,Automatic traveling speed is 0 grade, while motor internal contracting brake acts；Institute
State range deviation m0≤ W < m1,Speed V < 3, the automatic traveling speed are 1 grade of right lateral；The range deviation m1≤ W < m2,Institute
Speed V > 10 is stated, the automatic traveling speed is 2 grades of right lateral；The range deviation m2≤ W < m3,The speed V > 45, it is described
Automatic traveling speed is 3 grades of right lateral； W≥m3,The speed V > 100, the automatic traveling speed are 4 grades of right lateral；The distance
Deviation-m1< W≤- m0, the speed V < 3, the automatic traveling speed is 1 grade of left lateral；Range deviation-the m2< W≤-
m1, the speed V > 10, the automatic traveling speed is 2 grades of left lateral；Range deviation-the m3< W≤- m2, the speed V >
45, the automatic traveling speed is 3 grades of left lateral；The range deviation W≤- m3, the speed V > 100, it is described automatically walk scanning frequency
Degree is 4 grades of left lateral；
2) electric locomotive is after the completion of coke pushing, connect to winding shaft side, tank sending operation positioning when, the range deviation-n0< W <
n0, the automatic traveling speed is 0 grade；The range deviation n0≤ W < n1, the speed V < 1, the automatic traveling speed is
1 grade of right lateral；The range deviation n1≤ W < n2, the speed V > 10, the automatic traveling speed is 2 grades of right lateral；The distance
Deviation n2≤ W < n3, the speed V > 45, the automatic traveling speed is 3 grades of right lateral；Range deviation W >=the n3, the speed
V > 100 is spent, the automatic traveling speed is 4 grades of right lateral；Range deviation-the n1< W≤- n0, the speed V < 1, it is described from
Dynamic traveling speed is 1 grade of left lateral；Range deviation-the n2< W≤- n1, the speed V > 10, the automatic traveling speed is a left side
2 grades of row；Range deviation-the n3< W≤- n2, the speed V > 45, the automatic traveling speed is 3 grades of left lateral；The distance
Deviation W≤- n3, the speed V > 100,
The automatic traveling speed is 4 grades of left lateral.
Further, the operation feedback speed carries out calculating v=︱ ds/dt ︱ using following formula, in formula: v is electric locomotive
Real-time speed, ds are the differential distance that crosses of electric locomotive, and dt is the differential that crosses of electric locomotive apart from required derivative time.
Further, the method for moving vehicle automatically is to fail once to align, the range deviation is not in traveling position fixing process
In-m0< W < m0Or-n0< W < n0When in range, electric locomotive judges gear and side according to delay detection and positive and negative deviation size
To, automatic to carry out secondary contraposition or repeatedly contraposition, cooperation traveling band-type brake control, until the range deviation positional accuracy-
m0< W < m0Or-n0< W < n0In range.
Further, the method adaptively adjusted are as follows: 1) when the electric locomotive continuous 3 times after the completion of tank sending-carry out
When connecing the positioning of Jiaozhuo industry, there is primary contraposition overgauge, the electric locomotive automatic Pilot positioning control system is automatically in positioning
It is superimposed a positive value △ k in the gear speed of latter end, carries out connecing the positioning of Jiaozhuo industry after the completion of tank sending when the electric locomotive continuous 3 times
When, there is primary contraposition minus deviation, the electric locomotive automatic Pilot positioning control system is automatically in the latter end gear speed of positioning
One negative value-△ k of upper superposition；When carrying out cans picking operation positioning after the completion of coke pushing the electric locomotive continuous 3 times, occur primary
Overgauge is aligned, the electric locomotive automatic Pilot positioning control system is superimposed one automatically in the latter end gear speed of positioning and bears
Value-△ k；When carrying out cans picking operation positioning after the completion of coke pushing the electric locomotive continuous 3 times, there is primary contraposition minus deviation,
The electric locomotive automatic Pilot positioning control system is superimposed a positive value △ k in the latter end gear speed of positioning automatically；With certainly
Dynamic adjustment improves locating effect, improves primary contraposition success rate；
2), when each electric locomotive is completed in winding shaft contraposition and after car locking, in real time utterly by this electric locomotive
Location value is stored by respective conditions into the A or B or C or D of the data block of the described second vehicle-mounted PLC controller, covers initial value, next time
The tank is when winding shaft is aligned as destination address.
By adopting the above-described technical solution, compared with prior art, the present invention having the beneficial effect that due to this hair
It is bright to be equipped with address decoder and positioning optical yardstick, address decoder and positioning optical yardstick are combined with PLC controller, simultaneously
In addition control algolithm reduces the labor intensity of worker so that positioning accuracy improves.
Detailed description of the invention
Fig. 1 is systematic square frame schematic diagram of the invention.
Fig. 2 is of the invention to connect Jiaozhuo industry apart from rate pattern schematic diagram.
Fig. 3 be it is of the invention connect, tank sending operation is apart from rate pattern schematic diagram.
Fig. 4 is that Jiaozhuo industry that connects of the invention adjusts control flow chart to position adaptive.
Fig. 5 is that cans picking operation of the invention adjusts flow chart to position adaptive.
Fig. 6 be it is of the invention connect, tank sending operation address adaptively adjusts flow chart.
It is the vehicle-mounted element of the motor of four vehicle locking systems in double dot dash line in Fig. 1；In dotted line for motor it is vehicle-mounted the
The control system of two PLC controllers；Y, z, g, f in Fig. 4 and Fig. 5 are variable.
Specific embodiment
The invention will be further described with reference to the accompanying drawings and examples:
The method of Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5 and coke oven electric locomotive automatic Pilot location control shown in fig. 6, using coke oven electricity
Locomotive automatic Pilot positioning control system realizes that the system includes the address decoder 2 that is located at four vehicle locking systems, address solution
Code device 2 reads the real-time address data of the electric locomotive for the positioning optical yardstick 1 being located on ground rail, and by this real-time address data
It is transferred to the first vehicle-mounted PLC controller 3, the first vehicle-mounted PLC controller 3 transmits real-time address data and the destination address of setting
To the second vehicle-mounted PLC controller 5, simultaneous transmission to four vehicle locking system ground main controllers 4, the second vehicle-mounted 5 basis of PLC controller
The speed stage 6 for the result control electric locomotive that control algolithm obtains, speed stage 6 control running motor 8 to mesh by frequency converter 7
Mark address walking；Its implementation is: the second vehicle-mounted PLC controller 5 is obtained on four vehicle locking systems by bus communication
Address decoder 2 be transported to the first vehicle-mounted PLC controller 3 real-time address and four vehicle locking system ground main controllers 4 setting
Destination address and after being compared, obtain distance offsets W, according to apart from rate pattern and control algolithm, calculate electric locomotive
Operation feedback speed, output gear signal control frequency converter 7, driving motor vehicle complete traveling positioning, move vehicle automatically, adaptively
The movement of adjustment.
Real-time address are as follows: address decoder 2 parses the absolute address of acquisition after detection positions optical yardstick 1, and first is vehicle-mounted
PLC controller 3 reads the real-time address data of address decoder 2 by serial mode.
Destination address include the setting directly obtained from four vehicle locking systems plan heat (batch) number address and two Jiao Guantai
Vehicle is in the connecing of winding shaft position, four absolute address values of tank sending contraposition dynamic memory, and four absolute address values are in automatic Pilot
In the process, switched according to sequential control and used.
Apart from rate pattern are as follows: according to the size of distance offsets and actual production scene track length, what is determined is each
Gear speed interval range.
Each gear speed interval range are as follows: 1) when electric locomotive is after the completion of tank sending, carry out connecing the positioning of Jiaozhuo industry to coke oven side
When, range deviation-m0< W < m0,Automatic traveling speed is 0 grade, while motor internal contracting brake acts；Range deviation m0≤ W < m1,Speed
V < 3, automatic traveling speed are 1 grade of right lateral；Range deviation m1≤ W < m2,Speed V > 10, automatic traveling speed are 2 grades of right lateral；
Range deviation m2≤ W < m3,Speed V > 45, automatic traveling speed are 3 grades of right lateral；Range deviation W >=m3,Speed V > 100, from
Dynamic traveling speed is 4 grades of right lateral；Range deviation-m1< W≤- m0, speed V < 3, automatic traveling speed is 1 grade of left lateral；Distance is partially
Difference-m2< W≤- m1, speed V > 10, automatic traveling speed is 2 grades of left lateral；Range deviation-m3< W≤- m2, speed V > 45, from
Dynamic traveling speed is 3 grades of left lateral；Range deviation W≤- m3, speed V > 100, automatic traveling speed is 4 grades of left lateral；
2) electric locomotive is after the completion of coke pushing, connect to winding shaft side, tank sending operation positioning when, range deviation-n0< W < n0,
Automatic traveling speed is 0 grade；Range deviation n0≤ W < n1, speed V < 1, automatic traveling speed is 1 grade of right lateral；Range deviation n1
≤ W < n2, speed V > 10, automatic traveling speed is 2 grades of right lateral；Range deviation n2≤ W < n3, speed V > 45 walks scanning frequency automatically
Degree is 3 grades of right lateral；Range deviation W >=n3, speed V > 100, automatic traveling speed is 4 grades of right lateral；Range deviation-n1< W≤-
n0, speed V < 1, automatic traveling speed is 1 grade of left lateral；Range deviation-n2< W≤- n1, speed V > 10, automatic traveling speed is
2 grades of left lateral；Range deviation-n3< W≤- n2, speed V > 45, automatic traveling speed is 3 grades of left lateral；Range deviation W≤- n3, speed
V > 100 is spent, automatic traveling speed is 4 grades of left lateral.
Operation feedback speed carries out calculating v=︱ ds/dt ︱ using following formula, in formula: v is the real-time speed of electric locomotive, ds
For the differential distance that electric locomotive crosses, dt is the differential that crosses of electric locomotive apart from required derivative time.Electric locomotive is in differential
Between in dt=600ms, the difference for calculating vehicle absolute address obtains the calculating that takes absolute value after the operating range of this time, it may be assumed that v
=︱ ds/dt ︱.It is respectively v that 1,2,3,4 notch speed degree, which are set separately,1=20, v2=60, v3=130, v4=200.For travelled by vehicle process
Rate limitation.
Automatically the method for moving vehicle is to fail once to align, range deviation is not in-m in traveling position fixing process0< W < m0Or-
n0< W < n0When in range, electric locomotive judges gear and direction, carries out automatically secondary according to delay detection and positive and negative deviation size
Contraposition or repeatedly contraposition, cooperation traveling band-type brake control, until range deviation positional accuracy is in-m0< W < m0Or-n0< W <
n0In range.
The method adaptively adjusted are as follows: when 1) carrying out connecing the positioning of Jiaozhuo industry after the completion of tank sending when electric locomotive continuous 3 times, out
Now once contraposition overgauge, electric locomotive automatic Pilot positioning control system are superimposed one in the latter end gear speed of positioning automatically
There is primary contraposition minus deviation, motor when carrying out connecing the positioning of Jiaozhuo industry after the completion of tank sending for electric locomotive continuous 3 times in positive value △ k
Vehicle automatic Pilot positioning control system is superimposed a negative value-△ k in the latter end gear speed of positioning automatically；When electric locomotive is continuous
When carrying out cans picking operation positioning after the completion of coke pushing 3 times, there is primary contraposition overgauge, electric locomotive automatic Pilot location control system
System is superimposed a negative value-△ k in the latter end gear speed of positioning automatically；It is carried out after the completion of coke pushing when electric locomotive continuous 3 times
When cans picking operation positions, there is primary contraposition minus deviation, electric locomotive automatic Pilot positioning control system is automatically in the latter end of positioning
A positive value △ k is superimposed in gear speed；Improve locating effect with adjust automatically, improves primary contraposition success rate；
2), when each electric locomotive is completed in winding shaft contraposition and after car locking, by the real-time absolute address values of this electric locomotive by pair
It answers condition storage into the A or B or C or D of the data block of the second vehicle-mounted PLC controller 5, covers initial value, the next tank is being promoted
As destination address when well aligns.Refresh address dynamic in this way can avoid changing tank bring address deviation or track car slipping pair
The continuous influence of address, improves the adaptability of location control.
In practice, after (1) electric locomotive puts into automatic running pattern, the second vehicle-mounted PLC controller 5 is logical by bus
News mode reads the real-time absolute address of electric locomotive address decoder 2 and the destination address of four vehicle linkage control systems, deposits respectively
Storage is in position the memory address MW404 and MW506 of the second vehicle-mounted PLC controller 5.After comparison, physical location and mesh are obtained
The distance offsets W of cursor position.According to apart from rate pattern and electric locomotive real time execution velocity feedback, Tactic selection is suitably fast
Gear is spent, output drives two motor positive and inverse synchronous operations to two sets of frequency converters.When electric locomotive constantly approaches destination address,
Downshift step by step.When distance offsets within the allowable range when, electric locomotive gear returns to zero, while holding brake action, braking brake.Work as vehicle
When stopping, such as there is positive and negative deviation, after delay judgement, the second vehicle-mounted PLC controller 5 executes moves range of driving sequence, opposite direction automatically
Operation completes positioning until stopping within the scope of allowable error.
(2) it is exhausted to calculate vehicle according to electric locomotive in derivative time dt=600ms by electric locomotive real time execution velocity feedback v
The calculating that takes absolute value after the operating range of this time is obtained to the difference of address, it may be assumed that v=︱ ds/dt ︱.It is set separately 1,2,3,4
Notch speed degree is respectively v1=20, v2=60, v3=130, v4=200.For travelled by vehicle process rate limitation.
(3) electric locomotive requires higher than requiring in coke oven section in promotion well section aligning accuracy, it may be assumed that n0< m0, therefore at both ends pair
The speed sectors of position setting are different.The electric locomotive absolute address and destination address obtained in real time, after comparison, in conjunction with Fig. 2 distance
The strategy of rate pattern and velocity feedback, Decision Control speed stage.Each gear frequency is the second vehicle-mounted 5 program of PLC controller
Preset value is adjusted the speed by bus communication mode transmission instruction to frequency converter.It is specific as follows:
1. when electric locomotive is after the completion of tank sending, when carrying out connecing the positioning of Jiaozhuo industry to coke oven side, range deviation-m0< W < m0, automatically
Traveling speed is 0 grade, while motor internal contracting brake acts；Range deviation m0≤ W < m1, v < 3, automatic traveling speed is 1 grade of right lateral；Away from
From deviation m1≤ W < m2, v > 10, automatic traveling speed is 2 grades of right lateral；Range deviation m2≤ W < m3, v > 45 walks scanning frequency automatically
Degree is 3 grades of right lateral；Range deviation W >=m3, v > 100, automatic traveling speed is 4 grades of right lateral.Range deviation-m1< W≤- m0, v <
3, automatic traveling speed is 1 grade of left lateral；Range deviation-m2< W≤- m1, v > 10, automatic traveling speed is 2 grades of left lateral；Distance is partially
Difference-m3< W≤- m2, v > 45, automatic traveling speed is 3 grades of left lateral；Range deviation W≤- m3,V > 100, automatic traveling speed are
4 grades of left lateral.
2. connect when electric locomotive is after the completion of coke pushing completion or cans picking to winding shaft side, tank sending operation positioning when, distance
Deviation-n0< W < n0, automatic traveling speed is 0 grade；Range deviation n0≤ W < n1, v < 1, automatic traveling speed is 1 grade of right lateral；
Range deviation n1≤ W < n2, v > 10, automatic traveling speed is 2 grades of right lateral；Range deviation n2≤ W < n3, v > 45, automatic traveling
Speed is 3 grades of right lateral；Range deviation W >=n3,V > 100, automatic traveling speed are 4 grades of right lateral.Range deviation-n1< W≤- n0, v
< 1, automatic traveling speed are 1 grade of left lateral；Range deviation-n2< W≤- n1, v > 10, automatic traveling speed is 2 grades of left lateral；Distance
Deviation-n3< W≤- n2, v > 45, automatic traveling speed is 3 grades of left lateral；Range deviation W≤- n3,V > 100, automatic traveling speed
It is 4 grades of left lateral.
(4) electric locomotive is connecing coke or is connecing, in tank sending operation traveling position fixing process, fails once to be located in-m0< W < m0Or
Person-n0< W < n0When in range, electric locomotive judges gear and direction, automatic reverse according to delay detection and positive and negative deviation size
It moves vehicle and carries out secondary contraposition or repeatedly contraposition, cooperation traveling band-type brake control, until vehicle location accuracy is in-m0< W < m0Or
Person-n0< W < n0In range, vehicle is moved in stopping.
(5) electric locomotive in the process of running, because motor internal contracting brake, rainy day wheel change in friction force or track etc. it is external because
Element leads to the contraposition occurred in a period of time variation, influences to flank burnt contraposition success rate in coke oven.And under winding shaft, motor
The aligning accuracy requirement of vehicle is higher, therefore replaces burnt tank trolley and headstock and trolley, the connecting bolt between trolley and trolley
Abrasion loosens, and track car slipping can all lead to deviation occur to bit address.Therefore, for determining coke oven is different with winding shaft side
Position control requires and situation, takes different contraposition or address adaptive approach.
1. there is primary contraposition overgauge, i.e., when carrying out connecing the positioning of Jiaozhuo industry after the completion of tank sending for electric locomotive continuous 3 times
W(x-2)≥m0、W(x-1)≥m0、Wx≥m0When, system is automatically in the latter end gear speed k of positioning1One positive value △ k of upper superposition, i.e.,
k1= k1+△k；When carrying out connecing the positioning of Jiaozhuo industry after the completion of tank sending for electric locomotive continuous 3 times, there is primary contraposition minus deviation, i.e.,
W(h-2)≤- m0、W(h-1)≤- m0、Wh≤- m0When, system is automatically in the latter end gear speed k of positioning1One negative value-of upper superposition
△ k, i.e. k1= k1-△k.When carrying out cans picking operation positioning after the completion of coke pushing electric locomotive continuous 3 times, there is primary contraposition just
Deviation, i.e. W(i-2)≥m0、W(i-1)≥m0, Wi≥m0When, system is automatically in the latter end gear speed k of positioning11Upper superposition one is negative
Value-△ k, i.e. k11= k11-△k；When carrying out cans picking operation positioning after the completion of coke pushing electric locomotive continuous 3 times, it is primary right to occur
Position minus deviation, i.e. W(j-2)≤-m0、W(j-1)≤-m0、Wj≤-m0When, system is automatically in the latter end gear speed k of positioning11Upper superposition
One positive value △ k, i.e. k11= k11+△k.Improve locating effect with this adjust automatically, improves primary contraposition success rate.After superposition
K1Or k11When value is beyond a certain range, illustrate that micro-adjustment amount is excessive, system carries out warning note, needs to carry out visual examination.
2. the 1 of electric locomotive#Burnt tank trolley and 2#Burnt tank trolley connects under winding shaft, tank sending when, corresponding location address is not
Have and is arranged to two fixed values, but after allowing dynamic refresh in a certain range, it is stored in the second vehicle-mounted PLC controller 5
In tetra- addresses data block corresponding A or B or C or D, each duty cycle refreshes primary.When electric locomotive 1#Burnt tank trolley is mentioning
When gug carries out cans picking operation, after the completion of contraposition is completed and triggers APS car locking, delay is after motor truck position is stablized, by this
The storage of electric locomotive absolute address MW404 value into the corresponding address A of the second vehicle-mounted 5 data block of PLC controller, cover initial value,
As next duty cycle 1#Destination address of the burnt tank trolley when winding shaft cans picking aligns；Equally, 1#Burnt tank trolley is being promoted
When well carries out tank sending operation, corresponding absolute address values storage is covered in the B of address, as next period 1#Burnt tank trolley is sent
Tank destination address.When electric locomotive 2#Burnt tank trolley when winding shaft carries out cans picking operation, complete and trigger APS(to be automatic by contraposition
The abbreviation of alignment device) after the completion of car locking, delay is after motor truck position is stablized, by this electric locomotive absolute address MW404
Value storage covers initial value, as next duty cycle 2 into the corresponding address C of the second vehicle-mounted 5 data block of PLC controller#It is burnt
Destination address of the tank trolley when winding shaft cans picking aligns；Equally, 2#Burnt tank trolley, will be right when winding shaft carries out tank sending operation
The absolute address values storage answered is covered in address D, as next period 2#Burnt tank trolley tank sending destination address.It is dynamic in this way
Refresh address can avoid changing connecting bolt backlash bring between tank, compartment headstock and make to bit address deviation or track injustice
Continuous influence at car slipping on address improves electric locomotive in the adaptability for promoting well section location control.
Claims (8)
1. a kind of method of coke oven electric locomotive automatic Pilot location control, it is characterised in that: use coke oven electric locomotive automatic Pilot
Positioning control system realizes that the system includes the address decoder for being located at four vehicle locking systems, and the address decoder is read
The real-time address data of the electric locomotive of the positioning optical yardstick on ground rail are located at, and this real-time address data is transferred to
First vehicle-mounted PLC controller, the first vehicle-mounted PLC controller transmit the real-time address data and the destination address of setting
To the second vehicle-mounted PLC controller, simultaneous transmission to four vehicle locking system ground main controllers, the second vehicle-mounted PLC controller root
The speed stage of the electric locomotive is controlled according to the result that control algolithm obtains, the speed stage passes through Frequency Converter Control traveling electricity
Machine is walked to destination address；Its implementation is: the second vehicle-mounted PLC controller obtains the electric locomotive by bus communication
On the address decoder be transported to the described first vehicle-mounted PLC controller real-time address and the four vehicles locking system ground master
After controlling the destination address of device setting and being compared, distance offsets W is obtained, according to apart from rate pattern and control algolithm, meter
The operation feedback speed of the electric locomotive is calculated, output gear signal controls traveling frequency converter, and driving motor vehicle completes traveling positioning,
Automatically vehicle is moved, the movement adaptively adjusted.
2. the method for coke oven electric locomotive automatic Pilot location control according to claim 1, it is characterised in that: described real-time
Address are as follows: the address decoder parses the absolute address of acquisition, the first vehicle-mounted PLC after detecting the positioning optical yardstick
Controller reads the real-time address data of the address decoder by serial mode.
3. the method for coke oven electric locomotive automatic Pilot location control according to claim 1 or 2, it is characterised in that: described
Destination address includes that the plan heat (batch) number address of the setting directly obtained from the four vehicles locking system and two burnt tank trolleys exist
The connecing of winding shaft position, tank sending contraposition dynamic memory four absolute address values, four absolute address values are in automatic Pilot
In the process, switched according to sequential control and used.
4. the method for coke oven electric locomotive automatic Pilot location control according to claim 1 or 2, it is characterised in that: described
Apart from rate pattern are as follows: according to the size of distance offsets and actual production scene track length, each gear speed determined
Interval range.
5. the method for coke oven electric locomotive automatic Pilot location control according to claim 4, it is characterised in that: each shelves
Bit rate interval range are as follows: 1) when the electric locomotive tank sending after the completion of, when carrying out connecing the positioning of Jiaozhuo industry to coke oven side, it is described away from
From deviation-m0< W < m0,Automatic traveling speed is 0 grade, while motor internal contracting brake acts；The range deviation m0≤ W < m1,Speed V
< 3, the automatic traveling speed are 1 grade of right lateral；The range deviation m1≤ W < m2,The speed V > 10, the automatic traveling
Speed is 2 grades of right lateral；The range deviation m2≤ W < m3,The speed V > 45, the automatic traveling speed are 3 grades of right lateral； W
≥m3,The speed V > 100, the automatic traveling speed are 4 grades of right lateral；Range deviation-the m1< W≤- m0, the speed
V < 3, the automatic traveling speed are 1 grade of left lateral；Range deviation-the m2< W≤- m1, the speed V > 10 is described automatic
Traveling speed is 2 grades of left lateral；Range deviation-the m3< W≤- m2, the speed V > 45, the automatic traveling speed is left lateral
3 grades；The range deviation W≤- m3, the speed V > 100, the automatic traveling speed is 4 grades of left lateral；
2) electric locomotive is after the completion of coke pushing, connect to winding shaft side, tank sending operation positioning when, the range deviation-n0< W <
n0, the automatic traveling speed is 0 grade；The range deviation n0≤ W < n1, the speed V < 1, the automatic traveling speed is
1 grade of right lateral；The range deviation n1≤ W < n2, the speed V > 10, the automatic traveling speed is 2 grades of right lateral；The distance
Deviation n2≤ W < n3, the speed V > 45, the automatic traveling speed is 3 grades of right lateral；Range deviation W >=the n3, the speed
V > 100 is spent, the automatic traveling speed is 4 grades of right lateral；Range deviation-the n1< W≤- n0, the speed V < 1, it is described from
Dynamic traveling speed is 1 grade of left lateral；Range deviation-the n2< W≤- n1, the speed V > 10, the automatic traveling speed is a left side
2 grades of row；Range deviation-the n3< W≤- n2, the speed V > 45, the automatic traveling speed is 3 grades of left lateral；The distance
Deviation W≤- n3, the speed V > 100；
The automatic traveling speed is 4 grades of left lateral；Wherein: W is vehicle physical location and target position range deviation；M is to connect coke
Operation process is apart from setting value；N be connect, tank sending operation process is apart from setting value；S is operating range；T is the time.
6. the method for coke oven electric locomotive automatic Pilot location control according to claim 1, it is characterised in that: the operation
Feedback speed carries out calculating v=︱ ds/dt ︱ using following formula, in formula: v is the real-time speed of electric locomotive, and ds crosses for electric locomotive
Differential distance, dt is the differential that crosses of electric locomotive apart from required derivative time.
7. the method for coke oven electric locomotive automatic Pilot location control according to claim 1, it is characterised in that: described automatic
The method for moving vehicle is to fail once to align, the range deviation is not in-m in traveling position fixing process0< W < m0Or-n0< W < n0
When in range, electric locomotive judges gear and direction according to delay detection and positive and negative deviation size, automatic to carry out secondary contraposition or more
Secondary contraposition, cooperation traveling band-type brake control, until the range deviation positional accuracy is in-m0< W < m0Or-n0< W < n0Model
In enclosing.
8. the method for coke oven electric locomotive automatic Pilot location control according to claim 1, it is characterised in that: described adaptive
The method that should be adjusted are as follows: 1) when the electric locomotive continuous 3 times after the completion of tank sending, carries out connecing the positioning of Jiaozhuo industry, occur primary
Overgauge is aligned, the electric locomotive automatic Pilot positioning control system is being superimposed one just in the latter end gear speed of positioning automatically
Value △ k, when the electric locomotive continuous 3 times after the completion of tank sending -- when carrying out connecing the positioning of Jiaozhuo industry, there is primary contraposition minus deviation,
The electric locomotive automatic Pilot positioning control system is superimposed a negative value-△ k in the latter end gear speed of positioning automatically；Work as institute
It states electric locomotive continuous 3 times and when progress cans picking operation positioning, primary contraposition overgauge, the coke oven motor occurs after the completion of coke pushing
Vehicle automatic Pilot positioning control system is superimposed a negative value-△ k in the latter end gear speed of positioning automatically；When the electric locomotive
When carrying out cans picking operation positioning after the completion of coke pushing continuous 3 times, there is primary contraposition minus deviation, the coke oven electric locomotive is driven automatically
It sails positioning control system and is superimposed a positive value △ k in the latter end gear speed of positioning automatically；Improve positioning effect with adjust automatically
Fruit improves primary contraposition success rate；Wherein: k is latter end gear speed；△ k is speed increment；2), when each electric locomotive
After simultaneously car locking is completed in winding shaft contraposition, this real-time absolute address values of the electric locomotive are stored by respective conditions to described
In the A or B or C or D of the data block of second vehicle-mounted PLC controller, initial value is covered, the next tank is when winding shaft is aligned as mesh
Mark address.
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| CN201910142689.4A CN109652102A (en) | 2019-02-26 | 2019-02-26 | The method of coke oven electric locomotive automatic Pilot location control |
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| CN201910142689.4A CN109652102A (en) | 2019-02-26 | 2019-02-26 | The method of coke oven electric locomotive automatic Pilot location control |
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| CN113799848A (en) * | 2020-06-17 | 2021-12-17 | 宝山钢铁股份有限公司 | Autonomous operation control method and device for internal combustion hydraulic transmission locomotive |
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Application publication date: 20190419 |